Depends on whether you just want to record your dogs activity while you were away, many options available, or be able to live monitor them while you are out? Or both? Most of the Panasonic camcorders have WiFi built in, so can stream video content. But, you will also need WiFi in your RV with sufficient bandwidth allowances.
Note that IP cameras, typically used for security monitoring, are designed for remote monitoring. They have a built-in web server chip. However, even the entry level
Panasonic HC-V270 can record and stream to a smartphone/tablet(baby monitor), or over the internet. They're designed to be used with UStream, you can still sign up for a free account, though not sure if there are any time limits. I've only used their enterprise account.
One caveat is that you need to be comfortable at setting up the streaming settings.